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<div class="title">file_io.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
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<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_COMMON_FILE_IO_IMPL_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_COMMON_FILE_IO_IMPL_HPP_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;{</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#ifndef _WIN32</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="common_2include_2pcl_2common_2file__io_8h.html#a65492f5cdc563cd60c2267366788d077">   46</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="common_2include_2pcl_2common_2file__io_8h.html#a65492f5cdc563cd60c2267366788d077">getAllPcdFilesInDirectory</a>(<span class="keyword">const</span> std::string&amp; directory, std::vector&lt;std::string&gt;&amp; file_names)</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  {</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    DIR *dp;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keyword">struct </span>dirent *dirp;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keywordflow">if</span>((dp  = opendir(directory.c_str())) == NULL) {</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      std::cerr &lt;&lt; <span class="stringliteral">&quot;Could not open directory.\n&quot;</span>;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    }</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordflow">while</span> ((dirp = readdir(dp)) != NULL) {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="keywordflow">if</span> (dirp-&gt;d_type == DT_REG)  <span class="comment">// Only regular files</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        std::string file_name = dirp-&gt;d_name;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <span class="keywordflow">if</span> (file_name.substr(file_name.size()-4, 4)==<span class="stringliteral">&quot;.pcd&quot;</span>)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;          file_names.push_back(dirp-&gt;d_name);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      }</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    }</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    closedir(dp);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    std::sort(file_names.begin(), file_names.end());</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="comment">//for (unsigned int i=0; i&lt;file_names.size(); ++i)</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="comment">//cout &lt;&lt; file_names[i]&lt;&lt;&quot;\n&quot;;</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  }</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="common_2include_2pcl_2common_2file__io_8h.html#a77fba9b71d0b5ddc824cc3555c258513">   69</a></span>&#160;std::string <a class="code" href="common_2include_2pcl_2common_2file__io_8h.html#a77fba9b71d0b5ddc824cc3555c258513">getFilenameWithoutPath</a>(<span class="keyword">const</span> std::string&amp; input)</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;{</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordtype">size_t</span> filename_start = input.find_last_of(<span class="charliteral">&#39;/&#39;</span>, <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span>(-1)) + 1;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordflow">return</span> input.substr(filename_start, input.size()-filename_start);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;}</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="common_2include_2pcl_2common_2file__io_8h.html#af45ced9a4448cf680b2e5da96f4e9aea">   75</a></span>&#160;std::string <a class="code" href="common_2include_2pcl_2common_2file__io_8h.html#af45ced9a4448cf680b2e5da96f4e9aea">getFilenameWithoutExtension</a>(<span class="keyword">const</span> std::string&amp; input)</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;{</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordtype">size_t</span> dot_position = input.find_last_of(<span class="charliteral">&#39;.&#39;</span>, input.size());</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordflow">return</span> input.substr(0, dot_position);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;}</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="common_2include_2pcl_2common_2file__io_8h.html#ae40c9e0ff704ed675e3300ed02451796">   81</a></span>&#160;std::string <a class="code" href="common_2include_2pcl_2common_2file__io_8h.html#ae40c9e0ff704ed675e3300ed02451796">getFileExtension</a>(<span class="keyword">const</span> std::string&amp; input)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;{</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordtype">size_t</span> dot_position = input.find_last_of(<span class="charliteral">&#39;.&#39;</span>, input.size());</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordflow">return</span> input.substr(dot_position+1, input.size());</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;}</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;}  <span class="comment">// namespace end</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="ttc" id="acommon_2include_2pcl_2common_2file__io_8h_html_a65492f5cdc563cd60c2267366788d077"><div class="ttname"><a href="common_2include_2pcl_2common_2file__io_8h.html#a65492f5cdc563cd60c2267366788d077">pcl::getAllPcdFilesInDirectory</a></div><div class="ttdeci">void getAllPcdFilesInDirectory(const std::string &amp;directory, std::vector&lt; std::string &gt; &amp;file_names)</div><div class="ttdoc">Find all *.pcd files in the directory and return them sorted</div><div class="ttdef"><b>Definition:</b> file_io.hpp:46</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2file__io_8h_html_a77fba9b71d0b5ddc824cc3555c258513"><div class="ttname"><a href="common_2include_2pcl_2common_2file__io_8h.html#a77fba9b71d0b5ddc824cc3555c258513">pcl::getFilenameWithoutPath</a></div><div class="ttdeci">std::string getFilenameWithoutPath(const std::string &amp;input)</div><div class="ttdoc">Remove the path from the given string and return only the filename (the remaining string after the la...</div><div class="ttdef"><b>Definition:</b> file_io.hpp:69</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2file__io_8h_html_ae40c9e0ff704ed675e3300ed02451796"><div class="ttname"><a href="common_2include_2pcl_2common_2file__io_8h.html#ae40c9e0ff704ed675e3300ed02451796">pcl::getFileExtension</a></div><div class="ttdeci">std::string getFileExtension(const std::string &amp;input)</div><div class="ttdoc">Get the file extension from the given string (the remaining string after the last '....</div><div class="ttdef"><b>Definition:</b> file_io.hpp:81</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2file__io_8h_html_af45ced9a4448cf680b2e5da96f4e9aea"><div class="ttname"><a href="common_2include_2pcl_2common_2file__io_8h.html#af45ced9a4448cf680b2e5da96f4e9aea">pcl::getFilenameWithoutExtension</a></div><div class="ttdeci">std::string getFilenameWithoutExtension(const std::string &amp;input)</div><div class="ttdoc">Remove the extension from the given string and return only the filename (everything before the last '...</div><div class="ttdef"><b>Definition:</b> file_io.hpp:75</div></div>
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